version: 66.07
glider: 543
mission: 9
dive: 181
start: 12 30 113 7 34 53
data:
$ID,543
$MISSION,9
$DIVE,181
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,350
$T_MISSION,390
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,-800
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13096.405
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,58
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,3420
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.073162
$PRESSURE_SLOPE,0.00011638312
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,118
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043512532
$SEABIRD_T_H,0.00062429422
$SEABIRD_T_I,2.2835797e-05
$SEABIRD_T_J,2.3805812e-06
$SEABIRD_C_G,-10.305622
$SEABIRD_C_H,1.1763667
$SEABIRD_C_I,-0.0018977363
$SEABIRD_C_J,0.00023287861
$GPS1,301213,072222,-4259.885,831.247,42,1.1,42,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-60.2
$GPS2,301213,073429,-4259.896,831.458,18,1.0,19,-25.1
$SPEED_LIMITS,0.163,0.235
$TGT_NAME,SAZ
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,289.5,1984,-27.2,-9.429
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.50,-57.7,0.0,0.0,0,66,0.00,0.00,-49.42,0.000,2,0.000,0.000,59,3417,2667,0,0,0,0,0,0
$GC,68,-0.53,-107.0,3.1,-4.0,6,87,6.15,0.90,-6.62,0.000,4,0.237,0.090,1540,3959,2913,0,0,0,0,0,0
$GC,242,-0.53,-107.0,38.1,-18.5,34,251,0.00,0.82,0.00,0.000,6,0.000,0.035,1540,3418,2916,0,0,0,0,0,0
$GC,389,-0.53,-107.0,61.3,-13.6,59,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3417,2917,0,0,0,0,0,0
$GC,733,-0.53,-107.0,109.2,-13.7,114,737,0.00,0.85,0.00,0.000,4,0.000,0.060,1536,3949,2918,0,0,0,0,0,0
$GC,918,-0.53,-107.0,137.9,-15.9,130,926,0.00,0.82,0.00,0.000,6,0.000,0.034,1536,3407,2919,0,0,0,0,0,0
$GC,1246,-0.53,-107.0,185.3,-14.9,161,1250,0.00,0.88,0.00,0.000,4,0.000,0.059,1532,3950,2920,0,0,0,0,0,0
$GC,1273,-0.53,-107.0,190.1,-15.8,163,1280,0.00,0.80,0.00,0.000,6,0.000,0.034,1532,3423,2920,0,0,0,0,0,0
$GC,1598,-0.53,-107.0,240.2,-14.9,194,1602,0.00,2.12,0.00,0.000,4,0.000,0.030,1532,2000,2920,0,0,0,0,0,0
$GC,1660,-0.53,-107.0,248.2,-11.9,199,1664,0.00,2.28,0.00,0.000,6,0.000,0.051,1521,3427,2920,0,0,0,0,0,0
$GC,1987,-0.53,-107.0,297.9,-14.8,229,1991,0.00,2.15,0.00,0.000,4,0.000,0.028,1522,1989,2920,0,0,0,0,0,0
$GC,2004,-0.53,-107.0,300.9,-15.0,230,2008,0.12,2.30,0.00,0.000,6,0.165,0.051,1542,3430,2919,0,0,0,0,0,0
$GC,2328,-0.53,-107.0,343.3,-13.6,260,2332,0.00,2.15,0.00,0.000,4,0.000,0.031,1542,1996,2920,0,0,0,0,0,0
$GC,2356,-0.53,-107.0,346.9,-12.3,262,2360,0.00,2.28,0.00,0.000,6,0.000,0.054,1533,3420,2920,0,0,0,0,0,0
$GC,2689,-0.53,-107.0,393.0,-14.3,293,2693,0.00,2.12,0.00,0.000,4,0.000,0.030,1533,1996,2920,0,0,0,0,0,0
$GC,2718,-0.53,-107.0,397.2,-13.7,295,2722,0.00,2.28,0.00,0.000,6,0.000,0.054,1522,3420,2920,0,0,0,0,0,0
$GC,3033,-0.53,-107.0,443.1,-14.5,311,3037,0.00,2.15,0.00,0.000,4,0.000,0.032,1522,2001,2919,0,0,0,0,0,0
$GC,3065,-0.53,-107.0,447.6,-12.3,312,3074,0.10,2.30,0.00,0.000,6,0.138,0.055,1543,3417,2919,0,0,0,0,0,0
$GC,3382,-0.53,-107.0,486.3,-12.6,328,3386,0.00,2.12,0.00,0.000,4,0.000,0.033,1543,2005,2919,0,0,0,0,0,0
$GC,3402,-0.53,-107.0,489.0,-12.4,329,3407,0.00,2.30,0.00,0.000,6,0.000,0.057,1534,3415,2919,0,0,0,0,0,0
$GC,3731,-0.53,-107.0,531.1,-13.0,345,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3416,2919,0,0,0,0,0,0
$GC,4039,-0.53,-107.0,571.0,-12.8,360,4043,0.00,2.12,0.00,0.000,4,0.000,0.033,1533,2004,2918,0,0,0,0,0,0
$GC,4073,-0.53,-107.0,575.3,-12.2,361,4080,0.00,2.30,0.00,0.000,6,0.000,0.057,1523,3431,2918,0,0,0,0,0,0
$GC,4388,-0.53,-107.0,619.1,-14.2,377,4392,0.00,2.15,0.00,0.000,4,0.000,0.034,1523,2004,2918,0,0,0,0,0,0
$GC,4427,-0.53,-107.0,623.9,-11.6,379,4432,0.12,2.30,0.00,0.000,6,0.164,0.057,1544,3430,2918,0,0,0,0,0,0
$GC,4753,-0.53,-107.0,661.9,-11.7,395,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,3431,2917,0,0,0,0,0,0
$GC,5063,-0.53,-107.0,697.9,-11.7,410,5067,0.00,2.17,0.00,0.000,4,0.000,0.034,1544,1996,2916,0,0,0,0,0,0
$GC,5094,-0.53,-107.0,701.5,-10.5,411,5102,0.00,2.33,0.00,0.000,6,0.000,0.058,1534,3420,2916,0,0,0,0,0,0
$GC,5412,-0.53,-107.0,739.4,-12.2,427,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3420,2915,0,0,0,0,0,0
$GC,5720,-0.53,-107.0,776.2,-11.9,442,5724,0.00,2.15,0.00,0.000,4,0.000,0.035,1534,2001,2915,0,0,0,0,0,0
$GC,5747,-0.53,-107.0,779.4,-12.0,443,5752,0.00,2.33,0.00,0.000,6,0.000,0.059,1523,3424,2915,0,0,0,0,0,0
$GC,6069,-0.53,-107.0,820.2,-13.0,459,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3424,2914,0,0,0,0,0,0
$GC,6378,-0.53,-107.0,860.2,-12.9,474,6382,0.00,2.15,0.00,0.000,4,0.000,0.034,1524,2006,2913,0,0,0,0,0,0
$GC,6404,-0.53,-107.0,863.9,-12.9,475,6410,0.08,2.30,0.00,0.000,6,0.142,0.059,1538,3415,2914,0,0,0,0,0,0
$GC,6728,-0.53,-107.0,901.7,-11.6,491,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3414,2913,0,0,0,0,0,0
$GC,7036,-0.53,-107.0,936.4,-10.7,506,7040,0.00,2.15,0.00,0.000,4,0.000,0.036,1538,1998,2913,0,0,0,0,0,0
$GC,7075,-0.53,-108.3,940.6,-9.3,508,7080,0.00,2.30,0.00,0.000,6,0.000,0.060,1528,3420,2913,0,0,0,0,0,0
$GC,7402,-0.53,-108.3,976.9,-10.8,524,7406,0.00,2.17,0.00,0.000,4,0.000,0.036,1528,2001,2912,0,0,0,0,0,0
$GC,7428,-0.53,-108.3,979.9,-10.9,525,7433,0.08,2.33,0.00,0.000,6,0.139,0.059,1541,3422,2912,0,0,0,0,0,0
$STATE,7543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7543,begin apogee
$GC,7548,-0.09,0.0,990.3,9.2,531,7655,0.50,0.00,103.88,1.860,6,0.153,0.000,1690,3284,2473,0,0,0,0,0,0
$STATE,7656,end apogee,CONTROL_FINISHED_OK
$STATE,7656,begin climb
$GC,7658,0.53,108.3,992.3,0.0,536,7778,0.57,2.45,109.82,1.810,4,0.063,0.034,1905,1866,2031,0,0,0,0,0,0
$GC,7816,0.53,108.3,977.9,14.7,543,7821,0.00,2.50,0.00,0.000,6,0.000,0.054,1905,3281,2026,0,0,0,0,0,0
$GC,8138,0.53,108.3,921.2,17.8,559,8141,0.00,1.12,0.00,0.000,4,0.000,0.060,1905,3954,2018,0,0,0,0,0,0
$GC,8215,0.53,108.3,906.4,19.0,562,8220,0.00,1.10,0.00,0.000,6,0.000,0.037,1910,3270,2018,0,0,0,0,0,0
$GC,8536,0.53,108.3,851.6,16.4,578,8540,0.00,1.12,0.00,0.000,4,0.000,0.060,1910,3952,2016,0,0,0,0,0,0
$GC,8793,0.53,108.3,803.3,18.1,589,8798,0.00,1.08,0.00,0.000,6,0.000,0.037,1916,3270,2015,0,0,0,0,0,0
$GC,9115,0.53,108.3,750.5,16.1,605,9119,0.00,1.12,0.00,0.000,4,0.000,0.060,1915,3959,2013,0,0,0,0,0,0
$GC,9209,0.53,108.3,733.8,17.6,609,9213,0.00,1.08,0.00,0.000,6,0.000,0.037,1920,3273,2013,0,0,0,0,0,0
$GC,9537,0.53,108.3,684.4,14.6,625,9540,0.00,1.10,0.00,0.000,4,0.000,0.060,1921,3950,2012,0,0,0,0,0,0
$GC,9794,0.53,108.3,641.9,16.4,636,9799,0.10,1.05,0.00,0.000,6,0.227,0.037,1900,3275,2012,0,0,0,0,0,0
$GC,10115,0.53,108.3,602.1,12.0,652,10119,0.00,1.10,0.00,0.000,4,0.000,0.060,1900,3954,2011,0,0,0,0,0,0
$GC,10231,0.53,108.3,585.4,14.8,657,10236,0.00,1.05,0.00,0.000,6,0.000,0.037,1904,3278,2011,0,0,0,0,0,0
$GC,10559,0.53,108.3,542.9,13.4,673,10562,0.00,1.10,0.00,0.000,4,0.000,0.059,1904,3958,2011,0,0,0,0,0,0
$GC,10636,0.53,108.3,531.1,15.0,676,10640,0.00,1.05,0.00,0.000,6,0.000,0.037,1909,3281,2011,0,0,0,0,0,0
$GC,10958,0.53,108.3,486.1,14.2,692,10962,0.00,1.10,0.00,0.000,4,0.000,0.060,1909,3960,2010,0,0,0,0,0,0
$GC,11137,0.53,108.3,457.2,16.0,700,11141,0.00,1.05,0.00,0.000,6,0.000,0.037,1914,3274,2010,0,0,0,0,0,0
$GC,11469,0.53,108.3,408.2,14.8,716,11473,0.00,1.10,0.00,0.000,4,0.000,0.059,1914,3957,2010,0,0,0,0,0,0
$GC,11552,0.53,108.3,394.6,16.1,720,11562,0.00,1.05,0.00,0.000,6,0.000,0.035,1920,3264,2010,0,0,0,0,0,0
$GC,11878,0.53,108.3,346.6,14.9,751,11881,0.00,1.12,0.00,0.000,4,0.000,0.059,1919,3959,2010,0,0,0,0,0,0
$GC,12088,0.53,108.3,311.0,17.0,769,12096,0.10,1.02,0.00,0.000,6,0.200,0.036,1897,3282,2010,0,0,0,0,0,0
$GC,12413,0.53,108.3,265.1,13.9,800,12416,0.00,1.08,0.00,0.000,4,0.000,0.059,1897,3950,2009,0,0,0,0,0,0
$GC,12509,0.53,108.3,249.9,15.9,808,12518,0.00,1.02,0.00,0.000,6,0.000,0.037,1901,3273,2009,0,0,0,0,0,0
$GC,12833,0.53,108.3,205.9,12.6,839,12837,0.00,1.10,0.00,0.000,4,0.000,0.058,1901,3957,2009,0,0,0,0,0,0
$GC,12889,0.53,108.3,198.2,13.7,844,12893,0.00,1.02,0.00,0.000,6,0.000,0.036,1906,3278,2009,0,0,0,0,0,0
$GC,13219,0.53,108.3,156.0,12.6,875,13223,0.00,1.08,0.00,0.000,4,0.000,0.060,1906,3948,2009,0,0,0,0,0,0
$GC,13440,0.53,108.3,124.6,14.1,894,13448,0.00,1.02,0.00,0.000,6,0.000,0.034,1910,3277,2009,0,0,0,0,0,0
$GC,13777,0.53,108.3,81.1,13.0,937,13783,0.00,1.10,0.00,0.000,4,0.000,0.058,1910,3961,2009,0,0,0,0,0,0
$GC,14042,0.53,108.3,44.3,11.7,983,14048,0.00,1.02,0.00,0.000,6,0.000,0.034,1915,3280,2009,0,0,0,0,0,0
$STATE,14400,end climb,SURFACE_DEPTH_REACHED
$STATE,14400,begin surface coast
$FINISH,0.6,1.026294
$STATE,14433,end surface coast,CONTROL_FINISHED_OK
$STATE,14433,begin surface
$SM_CCo,14445,46.33,0.783,0,0,1554,225.18
$SM_GC,1.45,0.00,0.00,46.33,0.000,0.000,0.783,54,3444,1554,-5.21,0.68,225.18
$IRIDIUM_FIX,-4244.98,836.94,301213,070712
$TT8_MAMPS,0.026215
$HUMID,61.69
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.4,27.483
$10V_AH,9.9,19.785
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,12.875,96.250,213.700,46.325,0.000,53.561,69.068,397.879,0.000,0.000,20.876,2648.408,8858.430,380.047,3099.842,231.505,0.000,1441.792,0.000,2446.949,0.000,1.010,0.000
$DEVICE_MAMPS,237.150,90.270,1859.715,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,727.175,1802.418,712.647,352.642,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354424
$DATA_FILE_SIZE,73696,1048
$CAP_FILE_SIZE,143276,0
$CFSIZE,259252224,245657600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,301213,113804,-4259.898,830.217,64,0.8,64,-25.0